KR101856826B1 - A terrain-aided navigation apparatus using a multi-look angle radar altimeter - Google Patents

A terrain-aided navigation apparatus using a multi-look angle radar altimeter Download PDF

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KR101856826B1
KR101856826B1 KR1020150162732A KR20150162732A KR101856826B1 KR 101856826 B1 KR101856826 B1 KR 101856826B1 KR 1020150162732 A KR1020150162732 A KR 1020150162732A KR 20150162732 A KR20150162732 A KR 20150162732A KR 101856826 B1 KR101856826 B1 KR 101856826B1
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angle
antennas
point
altimeter
terrain
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KR1020150162732A
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Korean (ko)
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KR20170058741A (en
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전주환
백인찬
장종훈
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국방과학연구소
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The terrain reference navigation apparatus using the multi-angle radio wave altimeter according to the present invention includes three first, second, third, and fourth antennas, which are alternately connected to 32 first, ..., 32 antennas 31-1, 3 receivers 33-1, 33-2, and 33-3. The point target altitude data is obtained from the point target, the cross track angle θ a of the vehicle 1, and the terrain point ground angle θ c of the point target and the ground A multi-angle propagation altimeter 30 for outputting a plurality of data, a raw data of point-target altitude data in a 3D rectangular shape, and obtaining a 2D topography shape by an FFT (Fast Fourier Transform) The navigation system 20 greatly reduces the number of receivers of the interferometer SAR altimeter commonly used in navigation of the air vehicle 1 and realizes a feature that the cost is greatly reduced by using only the FFT for the signal processing.

Description

[0001] The present invention relates to a terrain-referenced navigation apparatus using a multi-angle propagation altimeter,

[0001] The present invention relates to a terrain reference navigation apparatus for a flight vehicle, and more particularly, to a terrain reference navigation apparatus using a multi-angle propagation altimeter in which a small amount of receivers are alternately used.

Generally, the topographical reference navigation system using radio wave altimeter measures the altitude of the terrain by measuring the time of returning the radio waves in the vertical direction and comparing the measured altitude with the height of the three- Locate the location.

Therefore, a flight can be made while observing the current position of the flight body with a topographical reference navigation device using a radio altimeter.

Furthermore, the terrain reference navigation system using the SAR altimeter or the DDA altimeter improves the angular resolution of the traveling direction of the aircraft, and the echo waveform which is reflected back due to the vertical point being lower than the surrounding terrain height is not received for the first time, It complements the limitation of the radio altimeter which can not be accurately extracted. Here, the SAR altimeter is a synthetic aperture radar or a high resolution image radar, and the DDA altimeter means (Delay / Doppler Altimetry).

Furthermore, the terrain reference navigation system using the interferometer and SAR altimeter has a long curved line that meets the terrain at a plane perpendicular to the direction of flight including the waterline from the aircraft, so that the first return echo is from a vertical point lower than the surrounding terrain height It compensates the limitation of the SAR altimeter which can not measure the altitude in the vertical direction because it is reflected wave.

This is because interferometry is used with a SAR altimeter to measure the cross track angle of a vertical point lower than the surrounding terrain height, so that the altitude in the vertical direction can not be obtained but can be used as a navigation method.

Korean Patent No. 10-1387664 (Apr. 15, 2014)

However, the present interferometer-linked SAR altimeter has the following limitations.

First, increasing the number of antennas of the interferometer in order to increase the cross track angle resolution requires a corresponding number of receivers.

Second, if the number of antennas is reduced to 3, the sidelobe of the beam can be increased. However, if there is more noise, the cross track angle can not be accurately found. Also, if there is more than 3 ground points in one range bin, There is a case in which the user points at the wrong direction.

Third, it is impossible to obtain information about the attitude of the aircraft when it is used for navigation, or it is difficult to use when it is maneuvered because there is a big restriction. Therefore, interferometer SAR altimeter is mostly used as an auxiliary means of navigation.

In view of the above, the present invention can be used for navigation by connecting a relatively small number of receivers alternately to antennas as compared with an antenna. In particular, by modifying the signal processing in such a manner that only FFT (Fast Fourier Transform) can be used It is an object of the present invention to provide a geographical reference navigation apparatus using an economical multi-angle propagation altimeter at a greatly reduced cost.

According to an aspect of the present invention, there is provided a geographical reference navigation apparatus comprising a plurality of antennas, and a plurality of receivers alternately connected to each of the antennas in a smaller quantity than the antennas, A point target and an angle θ a of the flight along the track and a point-to-point altitude data (θ c ) of the point object and a cross track angle θ c of the flight object (1) A multi-angle radio wave altimeter for outputting An INS (Inertial Navigation System) for obtaining the 2D terrain shape by Fast Fourier Transform (FFT) after the point target altitude data is used as raw data and the raw data is organized into a 3D rectangular body, and the position and altitude of the flying body are obtained; .

In a preferred embodiment, the antenna comprises 32 first, ..., 32 antennas, the receiver is comprised of three first, second and third receivers, each of the first, Alternately connect to each of the first, ..., and 32 antennas.

In a preferred embodiment, the INS comprises a data processing unit for processing the and the 3D rectangular parallelepiped the 2D terrain shape, and calculating the position and the height, the data processing unit is the θ a and the θ c, DEM (Digital Elevation Model ) surface recent angle to the points θ b a and the ground surface recently from the angle to the point θ b c the vehicle and measuring the slope distance r of the point target slope for the flying moving direction of the flight traveling direction by the coordinate values of at a distance r e, and extracts a measurement of vehicle acceleration and the angular velocity of the coordinate value and the IMU (Inertial measurement Unit) of the DEM result in the present position information X ^ k / k-1 calculated from the model, the r e extracting the r ^ e calculated from the model, the r e and the r ^ e comparison calculating the error value by extracting the current location information X ^ k / k calculated using the new model, and the X ^ k of update a / k-1 by X ^ k / k W and calculates the position and the altitude of the air vehicle.

The terrain reference navigation apparatus using the multi-angle propagation altimeter according to the present invention uses a large number of antennas in the existing interferometer SAR altimeter and uses only 2-3 of the receivers in turn to connect to the antenna. In particular, So that the cost can be greatly reduced, which is economical.

In addition, since the cross-track angle resolution of the terrain reference navigation apparatus using the multi-angle propagation altimeter of the present invention is significantly improved compared with the existing three-antenna interferometer, the distance to the multipoints of the ground surface can be measured. Therefore, it is possible to greatly improve the position estimation performance.

FIG. 1 is a view showing a configuration of a terrain reference navigation apparatus using a multi-angle propagation altimeter according to the present invention applied to a vehicle, FIG. 2 is an example of a relationship between an antenna arrangement and a flying direction of a multi- FIG. 3 is a state in which an INS (Inertial Navigation System) of the terrain reference navigation apparatus according to the present invention is in operation, FIG. 4 is a diagram illustrating a raw data obtained by deraming reflected waves returned from a point target in the INS of the present invention, for example, and 5 is indicated with respect to the angle θ c perpendicular to the direction of the advancing direction angle θ a and proceeds as raw data cut data cuboid in INS of the present invention in one of the distance bin example, is 6 to 8 An example of a result of 2D FFT of raw data obtained by cutting the data rectangular parallelepiped at a distance bin in the INS of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

1 shows a configuration in which a terrain reference navigation apparatus using a multi-angle propagation altimeter according to the present invention is applied to a vehicle.

As shown, the air vehicle 1 includes a terrain reference navigation apparatus 10, and the terrain reference navigation apparatus 10 is composed of an INS (Inertial Navigation System) 20 and a multi-angle propagation altimeter 30 .

Specifically, the INS 20 includes a data processing unit 21 for arranging raw terrain data of a terrestrial target altitude into a 3D rectangular shape to obtain a 2D terrain shape by a simple FFT, a terrain database for generating accurate coordinate values for the terrestrial target A digital elevation model (DEM) 25, and an inertial measurement unit (IMU) 27, which is an inertial measurement device for providing acceleration and angular velocity information of the air vehicle 1, And a radio wave altimeter input unit 23 for receiving the received data as input data. Therefore, the INS 20 integrates acceleration and angular velocity twice to calculate the acceleration (a) and angular velocity (w) of the air vehicle 1, which is the measurement result of the IMU 27, so as to estimate the position of the air vehicle 1 from the starting point And performs continuous position correction using the DEM 25 and the multiaxis altimeter 30 to increase the accuracy of the position estimation while preventing the estimated position from being disturbed due to the cumulative error during long-distance movement.

Specifically, the multi-angle propagation altimeter 30 is an interferometer SAR altimeter, which is composed of an antenna 31 for transmitting radio waves and a receiver 33 for receiving reflected waves, and provides the received data to the INS 20 do. For example, the antenna 31 is composed of 32 first, ..., 32 antennas 31-1, ..., 31-32, and the receiver 33 includes three first, 3 receivers 33-1, 33-2, and 33-3. In particular, each of the first, second, and third receivers 33-1, 33-2, and 33-3 includes first, ..., and 32 antennas 31-1, Respectively.

Therefore, in terms of economy, the terrestrial reference navigation apparatus 10 uses a large number of antennas for the interferometer SAR altimeter, connects 2-3 receivers alternately to the antenna, and uses only FFT for signal processing, . In addition, since the cross-track angular resolution of the terrain reference navigation apparatus 10 is greatly improved as compared with the conventional three-antenna interferometer, it is possible to measure the distance to the multipoints of the ground and to measure the posture of the air vehicle 1 The location estimation performance is also greatly improved

Hereinafter, an embodiment of the terrain reference navigation apparatus 10 will be described in detail with reference to FIG. 2 and FIG. The symbols shown in Figs. 2 and 3 are defined as follows. θ a is the nearest point on the surface (assuming a point target) and along track angle, θ c is the latest point on the surface (assuming a point target) and the cross track angle, 1) and the ground surface latest point (point target), and r e is an inclination distance measured from the radio-altimeter input unit 23. And a is the air vehicle (1), and acceleration in the (aerial vehicle), w is the angular velocity of the vehicle (1), x is the position of the vehicle (1) (latitude, longitude, altitude), r ^ e is calculated from a model , Where k is the measurement frame number and ^ (hat) is the calculated value through the model. Further,? B a is an angle (flight advancing direction) with respect to the latest surface point measured by the multi-angle propagation altimeter 30,? B c is an angle between the latest point of the surface measured by the multi-angle propagation altimeter 30 Θ e c is a viewing angle (flight advancing direction) with respect to the ground surface latest point including the influence of the roll / pitch angle of the air vehicle 1 and θ e c is the roll / pitch angle effect of the air vehicle 1 Is the gaze angle (in the direction of the flight axis) with respect to the recent point of the surface of the ground. In particular, FIG. 3 illustrates a continuous position correction process using the DEM 25 and the multi-angle propagation altimeter 30 in order to prevent divergence of estimated positions using the acceleration (a) and angular velocity (w) Lt; / RTI >

Referring to FIG. 2, the multi-angle propagation altimeter 30 coincides with the longitudinal direction of the air vehicle 1, so that the last of the 32 first, ..., and 32 antennas 31-1, 32 < / RTI > antennas 31-32 are located in the rear of the vehicle. When the air vehicle 1 travels along a cross track, each of the 32 first, ..., and 32 antennas 31-1, ..., and 31-32 transmits radio waves toward the ground and the terrain point. However, in the cross track which is the flight direction of the air vehicle 1, the ground (N in FIG. 1) is lower due to the height of the terrain point (A, B and C in FIG. 1) So that the first echo waveform is not received by the first, second, and third receivers 33-1, 33-2, and 33-3. Therefore, the first, second, and third receivers 33-1, 33-2, and 33-3 measure the cross-track angle? A and the terrain point ground angle? C that the vertical wave forms with the terrain point. In this process, the three first, second, and third receivers 33-1, 33-2, and 33-3 receive the 32 first, ..., and 32 antennas 31-1, And is performed by connecting them alternately. The multi-angle propagation altimeter 30 receives the radio wave reflected from the ground surface through the receiver 33 (i.e., the receive antenna) while transmitting the radio wave to the earth surface through the antenna 31 (i.e., the transmit antenna) By using the operation, the value is calculated through the signal processing by comparing and analyzing the transmission wave and the reception wave. As a result, the multi-angle propagation altimeter 30 obtains three values of the measured values as? A and? C and r as a measurement result.

As a result, the multi-angle radio altimeters 30 is provided in the INS (20) the reflected wave and measure the cross track angle θ a and the data contained in the ground point terrian angle θ c from the reflection point to terrian altimeter sensor output. Then, INS 20 arranges the raw data of the terrestrial target altitude into a 3D rectangular shape, obtains a 2D terrain shape by simple FFT, and estimates position and altitude.

Referring to the operation of the INS 20 of FIG. 3, the data processing unit 21 performs measurement processing in the measurement processor 21a of the altimeter sensor output that has entered the radio-altimeter input unit 23. At this time, the measurement processor 21a receives the coordinate value data provided by the DEM 25 and simultaneously receives the acceleration a provided by the IMU 27 and X k / k-1 , which is the angular velocity w The inclination (or hypotenuse) distance r of the cross track and the terrain point is output as r e with reference to the outputs θ b a and θ b c of the angle calculator 21b. Then, update the data processor 21 processes the r ^ e and r e by calculating the slope distance r using the acceleration (a) and angular velocity (w) provided from the IMU (27) together, and the result of measurement The measurement updater 21d updates the coordinate value data provided by the DEM 25 and outputs X ^ k / k , which is position and altitude estimation, The altitude is calculated.

Here, r ^ e is calculated using the time updater 21c-1 and the measurement modeler 21c-2. The time updater 21c-1 outputs the acceleration a and the angular velocity w provided by the IMU 27 as X k / k-1 and outputs the result to the angle calculator 21b and the measurement modeler 21c-2 And the measurement modeler 21c-2 outputs r ^ e by referring to θ e a and θ e c provided by the angle calculator 21b together with X k / k-1 . Therefore, r e and X k / k-1 serve as correction factors, respectively. More specifically, the r e, r ^ e, X ^ k / k-1, X ^ measurement processor for the k / k (21a), the angle computing unit (21b), time updater (21c-1), the measurement model group (21c-2) and the measurement updater 21d will be described as follows. The time update unit 21c-1 updates the current position information Xk / k-1 calculated by using the previous frame correction value using the acceleration and angular velocity measurement results of the IMU 27 of the previous frame Is extracted. Proceeding radio altimeters input unit 23 is by signal processing on the data measured by the measurement processor (21a) surface recent point and the vehicle-axis direction and the horizontal direction angle (θ b a, θ b c), the slope distance (r e) is calculated do. Using the DEM (25), IMU (27), and the angle of the flight axis and the transverse axis, the flight axis and the transverse direction angle of inclination including the influence of the roll / pitch angle of the aircraft are estimated. As a result, θ e a and θ e c are obtained. The gaze angle is input to the measurement model by the current position information X ^ k / k-1 and the measurement modeler 21c-2 calculated through the model, and the inclination distance calculated by the model including the influence of the roll / the r ^ e information extract, and the result and calculate the error value by comparing the slope distance of r e (e) measured from radio altimeters input unit 23, and position correction in the update measurement group (21d) to take advantage of this Is performed. From this, the position estimator 21e obtains the latitude, longitude and altitude of the current position of the air vehicle 1 with X ^ k / k , which is a position estimation value calculated through the model by performing the position correction using the current frame correction value .

On the other hand, each of Figs. 4 to 8 is an example of image processing of the reflected wave returned from the point target.

Referring to FIG. 4, raw data obtained by deraming the reflected wave returned from the point-like terrain point and raw data are arranged in a rectangular parallelepiped shape.

Referring to FIG. 5, raw data obtained by cutting the data rectangular parallelepiped at one distance bin, and a state in which it is displayed with respect to an advancing direction angle? A and an angle? C perpendicular to the traveling direction. 4A shows a case where all 32 first, ..., 32 antennas 31-1, ..., 31-32 are used, and FIG. 4B shows a case where first, 1, ..., and 31-32, three first, second, and third antennas 31-1, 31-2, and 31-3 are arbitrarily extracted for every pulse, and FIG. . The first and second antennas 31-1 and 31-2 are arbitrarily extracted for every pulse of the 32 antennas 31-1, ..., and 31-32.

Referring to FIGS. 6 to 8, it is possible to know the result of 2D FFT of raw data obtained by cutting a data rectangular parallelepiped at one distance bin. FIG. 6 shows a case where all 32 first, ..., 32 antennas 31-1, ..., 31-32 are used, and FIG. 31-2, and 31-3 out of the first, ..., and 32- 31-1, ..., and 31-32 of the first and second antennas 31-1 and 31-2.

As described above, the terrain reference navigation apparatus using the multi-angle radio wave altimeter according to the present embodiment is provided with the first, ..., and 32 antennas 31-1, ..., 31-32 alternately connected 3, 3, and 3 receivers 33-1, 33-2, and 33-3. The cross-track angle θ a of the point object and the vehicle 1 and the terrain point ground angle θ c , a multitude of angular propagation altimeters 30 for outputting point target altitude data, a raw 3D data of the point target altitude data are arranged in a 3D rectangular shape, and a 2D terrain shape is obtained by an FFT (Fast Fourier Transform) And an INS (Inertial Navigation System) 20 for obtaining an altitude, thereby greatly reducing the number of receivers of the interferometer SAR altimeter commonly used for navigation of the air vehicle 1, and using the FFT only for signal processing, .

1: Flight 10: Terrain reference navigation device
20: INS (Inertial Navigation System)
21: data processing unit 23: radio wave altimeter input unit
25: DEM (Digital Elevation Model)
27: Inertial Measurement Unit (IMU)
30: Multi-angle radio wave altimeter
31: antennas 31-1, ..., 31-n: first, ..., n antennas
33: Receivers 33-1, 33-2, 33-3: 1st, 2nd and 3 receivers

Claims (4)

A plurality of antennas, and a plurality of receivers alternately connected to each of the antennas in a quantity smaller than the quantity of the antennas, receives a point target reflected wave higher than the ground, ) Angle a and a point target altitude data for the air vehicle 1 at the point target and a cross track angle? C of the flight object;
An INS (Inertial Navigation System) for obtaining the 2D terrain shape by Fast Fourier Transform (FFT) after arranging the raw data in the 3D rectangular shape with the point target altitude data as raw data and obtaining the position and altitude of the flying object; Including,
In the data processing unit provided in the INS, an angle &thgr; b a between the θ a and the θ c , an angle between the latest point of the surface of the flying progress direction by a coordinate value of a DEM (digital elevation model) model the measurement result of the vehicle acceleration and the angular rate from the angle to the point θ b c the air vehicle and said point of inclination ranging slant distance r of the target r e a, and the coordinate value and the IMU (Inertial measurement Unit) of the DEM cost, and current position information extracted by X ^ k / k-1 calculated from, and extracts the r ^ e calculated from the model of the r e, by calculating the error value by comparison of the r e and the r ^ e The current position information X ^ k / k calculated through the new model is extracted, and the X ^ k / k-1 is updated to the X ^ k / k to calculate the position and altitude of the air vehicle 1
Wherein the geographical reference navigation apparatus uses a multi-angle radio wave altimeter.
The receiver of claim 1, wherein the antenna comprises 32 first, ..., 32 antennas, the receiver comprises three first, second and third receivers, each of the first, Wherein the first, ..., and 32 antennas are alternately connected to the first, ..., and 32 antennas, respectively.
The apparatus of claim 1, wherein the data processing unit processes the 3D rectangular shape and the 2D terrain shape, and calculates the position and the altitude. delete
KR1020150162732A 2015-11-19 2015-11-19 A terrain-aided navigation apparatus using a multi-look angle radar altimeter KR101856826B1 (en)

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KR102053203B1 (en) * 2019-07-04 2019-12-06 국방과학연구소 Multiple altitude operating interferometer radar altimeter apparatus based on valid angle identification and method thereof
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KR101742126B1 (en) * 2015-07-21 2017-06-15 국방과학연구소 Apparatus for controlling measuring an altitude and method thereof

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